Developing a Compact Robotic Needle Driver for MRI-Guided Breast Biopsy in Tight Environments
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AbstractIn this letter, we present the design and development of a new robotic system for MRI-guided breast biopsy. The robot's structure is nonmagnetic, therefore, it can safely operate from within the scanner's magnetic bore; it has a compact Cartesian mechanism that allows it perform needle insertion tasks from both frontal and lateral directions inside an open bore scanner. A combination of piezoelectric and pneumatic actuators drive the motion of the proposed three degrees-of-freedom robot. To control the needle's insertion, we present an adaptive position regulator that uses the feedback from multiple sensors and that is robust to external disturbances. A detailed experimental study is presented to validate the performance and magnetic properties of the new mechanical prototype.
All Author(s) ListDavid Navarro-Alarcon, Satwinder Singh, Tianxue Zhang, Hayley Chung, Kwun Wang Ng, Mankiu Chow, Yunhui Liu
Journal nameIEEE Robotics and Automation Magazine
Volume Number2
Issue Number3
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1648 - 1655
LanguagesEnglish-United Kingdom

Last updated on 2020-18-10 at 02:16